Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ...ability appears. The existing algorithms dealing with robot motion and force control can be grouped into two classes: hybrid control control where the constrained and the unconstrained DOFs are observed separtely on the principle of orthogonality, and impedance control where the robot should adopt some physical properties such as mass, damping and stiffness in order to assure a stable dynamic interaction with the environment. In this paper the robust impedance control law is based on the attractive sliding mode theory. The control law guarantees a robot predefined impedance and therefore force regulation based on possessed impedance properties is discussed. Experimental results on a 1 DOF mechanism are shown to verify the theoretical statements.
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